PointReprjErrorNoDistortion Struct Reference

## Public Member Functions | |

template<typename T > | |

bool | operator() (const T *const c_p1, const T *point, T *resid) const |

PointReprjErrorNoDistortion (double ob_x, double ob_y, double fx) | |

## Static Public Member Functions | |

static ceres::CostFunction * | Create (const double p_x, const double p_y, const double p_z) |

## Public Attributes | |

double | px_ |

double | py_ |

double | pz_ |

Definition at line 39 of file ceres_utest.cpp.

PointReprjErrorNoDistortion::PointReprjErrorNoDistortion | ( | double | ob_x, |

double | ob_y, |
||

double | fx |
||

) | ` [inline]` |

Definition at line 41 of file ceres_utest.cpp.

static ceres::CostFunction* PointReprjErrorNoDistortion::Create | ( | const double | p_x, |

const double | p_y, |
||

const double | p_z |
||

) | ` [inline, static]` |

end of operator() Factory to hide the construction of the CostFunction object from the client code.

Definition at line 101 of file ceres_utest.cpp.

template<typename T >

bool PointReprjErrorNoDistortion::operator() | ( | const T *const | c_p1, |

const T * | point, |
||

T * | resid |
||

) | const` [inline]` |

extract the variables from the camera parameters

extrinsic block of parameters

angle_axis x for rotation of camera

angle_axis y for rotation of camera

angle_axis z for rotation of camera

translation of camera x

translation of camera y

translation of camera z

rotate and translate points into camera frame

angle axis

point rotated

apply camera translation

point rotated and translated

scale into the image plane by distance away from camera T xp = xp1 / zp1; T yp = yp1 / zp1;

perform projection using focal length and camera center into image plane resid[0] = T(fx_) * xp + T(cx_) - T(ox_); resid[1] = T(fy_) * yp + T(cy_) - T(oy_);

**Parameters:**-
point extrinsic parameters resid point being projected, yes this is has 3 parameters

Definition at line 47 of file ceres_utest.cpp.

Definition at line 105 of file ceres_utest.cpp.

observed x location of object in image

Definition at line 106 of file ceres_utest.cpp.

observed y location of object in image known focal length of camera in x

Definition at line 107 of file ceres_utest.cpp.

The documentation for this struct was generated from the following file: